
where \(\mathbf {I}_\text{gt}\)  denotes the ground truth AiF image.
Furthermore, we also encourage our depth map to be locally smooth using an edge-aware weighting as in [1]}. The smoothness loss is defined as:
\( L_\text{smooth} = \mathbb {E} [ W_{x} \left| \frac{\partial {\mathbf {D}_{i, j, 1}}}{\partial {x}} \right| + W_{y} \left| \frac{\partial {\mathbf {D}_{i, j, 1}}}{\partial {y}} \right| ],\) 
